电动汽车用开关磁阻电机控制系统的研究与开发
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摘要
电机驱动技术是新能源汽车,特别是纯电动汽车的关键技术,是当今电动汽车工业研究的两个主要方向之一。本文是关于电动汽车电机驱动技术的应用研究,研究中使用的电机为四相8/6极开关磁阻电机。针对此电机,设计了一套新型控制系统,使开关磁阻电机可以分时工作在发电和电动状态。
首先,根据开关磁阻电机的结构特点和原理,建立数学模型,明确其在发电和电动状态的工作原理。在此基础上,提出一种可用于电动汽车的开关磁阻电机双向控制系统,确定控制策略,从而实现电动汽车正常行驶状态下的驱动要求以及制动、滑行状态下的能量回馈。
其次,在确定控制策略和选择控制方法的基础上,设计实现此控制策略的总体方案,包括硬件的设计和软件的编写及调试。选用H桥式功率变换器主电路,采用电流斩波控制和电压斩波控制两种主要的控制方法,设计驱动电路、信号采集电路和外围保护电路。对应于发电/电动状态的不同能量流动过程,硬件部分采用同一套外围电路,而软件部分则采用不同的方式实现分时控制。
最后,对电动汽车用开关磁阻电机控制系统的样机系统进行实验研究,通过对电动和发电状态下实验的结果分析,以验证所设计的驱动系统。分析结果显示系统运行稳定、性能良好,从理论和实践上为电动汽车制动能量的回收提供了实用性的探索。
Motor drive is the key technology of new energy vehicles, especially electric vehicles, and in the current research field, it is one of two main directions of the EV industry. In this dissertation, the applied technology of motor drive technology is studied and the object is an 8/6 structure Switched Reluctance Motor (SRM). A new control system for this kind of motor is devised in order to make the motor work in time sharing mode as a generator and electric motor. The main contents of this thesis are summarized as follows:
First, according to the structural characteristics and principles of SRM, the mathematical model of SRM is build and the work principle of SRM is classified as a generator and electric motor. On this basis, a bidirectional control system for SRM is presented used in EVs and then the control strategy is determined. Consequently, for EVs, both the states of normal driving requirements and the energy feedback of braking or sliding are achieved.
Then, on the basis of the control strategy and the the control methods, the overall scheme of the control system for SRM is devised, including the design of hardware and the compiling and debugging of software . H-bridge converter for SRM is built,using chopped current control and voltage chopping control as the major control chip,and then the drive circuit,the signal acquisition circuit and the protection circuit are devised. Corresponding to the different energy flow processes under the state of generating and motor-operated, the same set of hardware peripherals circuits are used, but in software part different methods are chosen to realize the time sharing control.
Finally, experiments have been done on this SRM bidirectional control prototype system, and based on the experiments under the state of generating and electric motor, in order to validate the drive system in this article. The result shows that the prototype system has stable operation and good properties, and the practical exploration is provided for braking energy recovery of electric vehicles both in theory and practice.
首先,根据开关磁阻电机的结构特点和原理,建立数学模型,明确其在发电和电动状态的工作原理。在此基础上,提出一种可用于电动汽车的开关磁阻电机双向控制系统,确定控制策略,从而实现电动汽车正常行驶状态下的驱动要求以及制动、滑行状态下的能量回馈。
其次,在确定控制策略和选择控制方法的基础上,设计实现此控制策略的总体方案,包括硬件的设计和软件的编写及调试。选用H桥式功率变换器主电路,采用电流斩波控制和电压斩波控制两种主要的控制方法,设计驱动电路、信号采集电路和外围保护电路。对应于发电/电动状态的不同能量流动过程,硬件部分采用同一套外围电路,而软件部分则采用不同的方式实现分时控制。
最后,对电动汽车用开关磁阻电机控制系统的样机系统进行实验研究,通过对电动和发电状态下实验的结果分析,以验证所设计的驱动系统。分析结果显示系统运行稳定、性能良好,从理论和实践上为电动汽车制动能量的回收提供了实用性的探索。
Motor drive is the key technology of new energy vehicles, especially electric vehicles, and in the current research field, it is one of two main directions of the EV industry. In this dissertation, the applied technology of motor drive technology is studied and the object is an 8/6 structure Switched Reluctance Motor (SRM). A new control system for this kind of motor is devised in order to make the motor work in time sharing mode as a generator and electric motor. The main contents of this thesis are summarized as follows:
First, according to the structural characteristics and principles of SRM, the mathematical model of SRM is build and the work principle of SRM is classified as a generator and electric motor. On this basis, a bidirectional control system for SRM is presented used in EVs and then the control strategy is determined. Consequently, for EVs, both the states of normal driving requirements and the energy feedback of braking or sliding are achieved.
Then, on the basis of the control strategy and the the control methods, the overall scheme of the control system for SRM is devised, including the design of hardware and the compiling and debugging of software . H-bridge converter for SRM is built,using chopped current control and voltage chopping control as the major control chip,and then the drive circuit,the signal acquisition circuit and the protection circuit are devised. Corresponding to the different energy flow processes under the state of generating and motor-operated, the same set of hardware peripherals circuits are used, but in software part different methods are chosen to realize the time sharing control.
Finally, experiments have been done on this SRM bidirectional control prototype system, and based on the experiments under the state of generating and electric motor, in order to validate the drive system in this article. The result shows that the prototype system has stable operation and good properties, and the practical exploration is provided for braking energy recovery of electric vehicles both in theory and practice.
引文
[1]康龙云译著.电动汽车最新技术[M].北京:机械工业出版社,2008:7-28,56-62,95-98.
[2]陈清泉.环境保护和电动车的开发[J].江苏机械制造与自动化, 2000,(1): 3-7.
[3]唐苏亚.电动车辆及其电机的发展状况[J].电机技术,1996,(2):49-51.
[4]胡虔生,胡敏强.电机学[M].北京:中国电力出版社,2005:136-206.
[5]陈敏祥,陈永校.小容量无刷直流电动机换向逻辑的研究[J].微特电机. 1997, (6):2-4.
[6]张志忠,王强,陆永平.无刷直流电机系统的脉动力矩抑制方法[J].微特电机. 1998,(5): 12-14.
[7] Renato Carlson, Michel Lajoie Mazenc, Joao C. and etc. Analysis or torque ripple due to phase commutation in brushless dc machine[J]. IEEE Trans. On Ind. Applications. 1993, 28(3): 632-638.
[8]沈建新,罗佳,陈永校.无传感器无刷直流电机误差位置的分析与补偿[J].微特电机, 1999,(2): 3-7.
[9]胡晟,戴忆君,金如麟.无位置传感器的无刷直流电动机新控制方法的研究[J].微特电机. 1999,(5): 8-10.
[10]刘明基,王强,邹继斌.电动势换向无刷直流电机的预定位方式起动[J].微特电机. 1999 ,(2): 8-10.
[11]沈建新,吕晓春,杜写红.无传感器无刷直流电机三段式起动技术的深入分析[J].微特电机. 1998,(5):8-11.
[12] Muhammed Fazlur Rahman, L.Zhong,Khiang Wee Lim. A direct torque-controlled interior permanent magnet synchronous motor drive incorporating field weakening[J]. IEEE. Transactions on Industrial Electronics, 1998, Vol. 34 (6): 1246-1253.
[13] Pragasen Pillay, Ramu Krishnan. Control characteristics and speed controller design for a high performance permanent magnet synchronous motor drive[J]. IEEE Transactions on Power Electronics,1990,Vol.5(2):151-159.
[14]沈建新.永磁无刷直流电动机特殊绕组结构及无位置传感器控制的研究[D].杭州:浙江大学, 1997.
[15]詹琼华.开关磁阻电机[M].武汉:华中理工大学出版社, 1992: 1-35.
[16]孙晓明.车用ISAD系统中开关磁阻电机控制仿真研究[D].镇江:江苏大学, 2006.
[17] Miller. Switched reluctance motors and their control[J]. Magna Physics Publishing and Clarendon Press Oxford, 1993, 39(8): 99-108.
[18] Clarendon Press Oxford,1993,39(8): 99-108Radun, C. Ferreira, E. Richter. Two channel switched reluctance starter/generator results[J]. APEC97, 1998, 34(5): 546-552.
[19]王晓明,王玲.电动机的DSP控制[M].北京:北京航空航天大学出版社, 2004: 265-280.
[20]康龙云.新能源汽车与电力电子技术[M].北京:机械工业出版社,2009: 34-37.
[21]吴建华.开关磁阻电机设计与应用[M].北京:机械工业出版社, 2000: 1-19, 171-213.
[22]茆美琴,余世杰,苏建徽等.开关磁阻发电机用于直接驱动、变速运行风力发电系统的评估[J].太阳能学报, 2005, 26(3): 386-389.
[23]李广海,叶勇,蒋静坪. 3kW开关磁阻电机的再生制动实现[J].中国电机工程学报, 2004, 24(2): 123-127.
[24]熊慧文.基于开关磁阻电机的电动汽车控制器设计[D].大连:大连理工大学. 2007.
[25]刘东.车用开关磁阻电机起动/助力/发电一体化数字控制系统研究[D].镇江:江苏大学, 2006.
[26]秦海鸿,王慧贞,严仰光.双凸极永磁电机的控制模式[J].电气传动, 2005, 35(7): 24-27.
[27]江小军.开关磁阻电机调速系统研究[D].西安:西北工业大学, 2006.
[28]徐彦,徐建国,王笑非.开关磁阻发电机控制系统的研究[J].郑州铁路职业技术学院学报, 2006, 18(4): 26-28.
[29]黄健中,蒋全,周鹗.开关磁阻电机的控制模式[J].电气传动, 1997, (5): 10-13.
[30]郑自伟.开关磁阻电机调速系统的研究和设计[D].合肥:合肥工业大学. 2007.
[31]蔡际令,金若君.基于DSP控制的开关磁阻电机可逆传动系统[J].浙江大学学报(工学版), 2006, 40(6): 1019-1026.
[32]王双红.混合动力电动车用开关磁阻电机控制系统研究[D].武汉:华中科技大学, 2005.
[33]葛宝明,王祥珩,苏鹏声等.开关磁阻电机控制策略综述[J].电气传动, 2001, 31(2): 8-13.
[34]蒋东红,谢利理.基于TMS320F240的开关磁阻调速系统的设计[J].电气传动自动化, 2006, 28(6): 34-38.
[35]富士IGBT驱动混合集成电路使用说明书[DB].富士电机电子技术株式会社.
[36]费长保.一种新型永磁同步发电机的研究[D].武汉:华中科技大学, 2005.
[37] B. K. Bose, Timothy J. E, et a1. Microcomputer control of SRM[J]. IEEE trans on IA,1986, 22(4): 708-715.
[38] Karl. J. Astrom, Bjorn Wittenmark. Computer-controlled systems theory and design[M].北京:清华大学出版社, 2002: 26-32.
[39]李仁定.电机的微机控制[M].北京:机械工业出版社, 1999: 31-37.
[40]刘乐善,叶济忠,叶永坚.微型计算机接口技术原理及应用[M].武汉:华中理工大学出版社, 1996: 247-272.
[41]肖芳,潘庭龙.关于开关磁阻电动机的控制与仿真[J].防爆电机, 2004, (1): 5-8.
[42]卢智锋.电动车轮毂电机驱动技术的应用研究[D].广州:华南理工大学, 2009. .
[2]陈清泉.环境保护和电动车的开发[J].江苏机械制造与自动化, 2000,(1): 3-7.
[3]唐苏亚.电动车辆及其电机的发展状况[J].电机技术,1996,(2):49-51.
[4]胡虔生,胡敏强.电机学[M].北京:中国电力出版社,2005:136-206.
[5]陈敏祥,陈永校.小容量无刷直流电动机换向逻辑的研究[J].微特电机. 1997, (6):2-4.
[6]张志忠,王强,陆永平.无刷直流电机系统的脉动力矩抑制方法[J].微特电机. 1998,(5): 12-14.
[7] Renato Carlson, Michel Lajoie Mazenc, Joao C. and etc. Analysis or torque ripple due to phase commutation in brushless dc machine[J]. IEEE Trans. On Ind. Applications. 1993, 28(3): 632-638.
[8]沈建新,罗佳,陈永校.无传感器无刷直流电机误差位置的分析与补偿[J].微特电机, 1999,(2): 3-7.
[9]胡晟,戴忆君,金如麟.无位置传感器的无刷直流电动机新控制方法的研究[J].微特电机. 1999,(5): 8-10.
[10]刘明基,王强,邹继斌.电动势换向无刷直流电机的预定位方式起动[J].微特电机. 1999 ,(2): 8-10.
[11]沈建新,吕晓春,杜写红.无传感器无刷直流电机三段式起动技术的深入分析[J].微特电机. 1998,(5):8-11.
[12] Muhammed Fazlur Rahman, L.Zhong,Khiang Wee Lim. A direct torque-controlled interior permanent magnet synchronous motor drive incorporating field weakening[J]. IEEE. Transactions on Industrial Electronics, 1998, Vol. 34 (6): 1246-1253.
[13] Pragasen Pillay, Ramu Krishnan. Control characteristics and speed controller design for a high performance permanent magnet synchronous motor drive[J]. IEEE Transactions on Power Electronics,1990,Vol.5(2):151-159.
[14]沈建新.永磁无刷直流电动机特殊绕组结构及无位置传感器控制的研究[D].杭州:浙江大学, 1997.
[15]詹琼华.开关磁阻电机[M].武汉:华中理工大学出版社, 1992: 1-35.
[16]孙晓明.车用ISAD系统中开关磁阻电机控制仿真研究[D].镇江:江苏大学, 2006.
[17] Miller. Switched reluctance motors and their control[J]. Magna Physics Publishing and Clarendon Press Oxford, 1993, 39(8): 99-108.
[18] Clarendon Press Oxford,1993,39(8): 99-108Radun, C. Ferreira, E. Richter. Two channel switched reluctance starter/generator results[J]. APEC97, 1998, 34(5): 546-552.
[19]王晓明,王玲.电动机的DSP控制[M].北京:北京航空航天大学出版社, 2004: 265-280.
[20]康龙云.新能源汽车与电力电子技术[M].北京:机械工业出版社,2009: 34-37.
[21]吴建华.开关磁阻电机设计与应用[M].北京:机械工业出版社, 2000: 1-19, 171-213.
[22]茆美琴,余世杰,苏建徽等.开关磁阻发电机用于直接驱动、变速运行风力发电系统的评估[J].太阳能学报, 2005, 26(3): 386-389.
[23]李广海,叶勇,蒋静坪. 3kW开关磁阻电机的再生制动实现[J].中国电机工程学报, 2004, 24(2): 123-127.
[24]熊慧文.基于开关磁阻电机的电动汽车控制器设计[D].大连:大连理工大学. 2007.
[25]刘东.车用开关磁阻电机起动/助力/发电一体化数字控制系统研究[D].镇江:江苏大学, 2006.
[26]秦海鸿,王慧贞,严仰光.双凸极永磁电机的控制模式[J].电气传动, 2005, 35(7): 24-27.
[27]江小军.开关磁阻电机调速系统研究[D].西安:西北工业大学, 2006.
[28]徐彦,徐建国,王笑非.开关磁阻发电机控制系统的研究[J].郑州铁路职业技术学院学报, 2006, 18(4): 26-28.
[29]黄健中,蒋全,周鹗.开关磁阻电机的控制模式[J].电气传动, 1997, (5): 10-13.
[30]郑自伟.开关磁阻电机调速系统的研究和设计[D].合肥:合肥工业大学. 2007.
[31]蔡际令,金若君.基于DSP控制的开关磁阻电机可逆传动系统[J].浙江大学学报(工学版), 2006, 40(6): 1019-1026.
[32]王双红.混合动力电动车用开关磁阻电机控制系统研究[D].武汉:华中科技大学, 2005.
[33]葛宝明,王祥珩,苏鹏声等.开关磁阻电机控制策略综述[J].电气传动, 2001, 31(2): 8-13.
[34]蒋东红,谢利理.基于TMS320F240的开关磁阻调速系统的设计[J].电气传动自动化, 2006, 28(6): 34-38.
[35]富士IGBT驱动混合集成电路使用说明书[DB].富士电机电子技术株式会社.
[36]费长保.一种新型永磁同步发电机的研究[D].武汉:华中科技大学, 2005.
[37] B. K. Bose, Timothy J. E, et a1. Microcomputer control of SRM[J]. IEEE trans on IA,1986, 22(4): 708-715.
[38] Karl. J. Astrom, Bjorn Wittenmark. Computer-controlled systems theory and design[M].北京:清华大学出版社, 2002: 26-32.
[39]李仁定.电机的微机控制[M].北京:机械工业出版社, 1999: 31-37.
[40]刘乐善,叶济忠,叶永坚.微型计算机接口技术原理及应用[M].武汉:华中理工大学出版社, 1996: 247-272.
[41]肖芳,潘庭龙.关于开关磁阻电动机的控制与仿真[J].防爆电机, 2004, (1): 5-8.
[42]卢智锋.电动车轮毂电机驱动技术的应用研究[D].广州:华南理工大学, 2009. .